unilab.tasks.motion_tracking.g1.manager_terms
G1-specific Manager-Based motion-tracking terms.
Classes
joint_acc_l2
|
Squared finite-difference joint acceleration with reset-aware state. |
joint_torque_l2
|
Position-controller torque estimate using cold-path actuator gain binding. |
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class unilab.tasks.motion_tracking.g1.manager_terms.joint_acc_l2[source]
Bases: ManagerTermBase
Squared finite-difference joint acceleration with reset-aware state.
- Parameters:
cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)
-
__init__(cfg, env)[source]
- Parameters:
cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)
-
property tensor_state_entity: str
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reset(env_ids)[source]
- Parameters:
env_ids (Tensor)
- Return type:
None
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class unilab.tasks.motion_tracking.g1.manager_terms.joint_torque_l2[source]
Bases: ManagerTermBase
Position-controller torque estimate using cold-path actuator gain binding.
- Parameters:
cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)
-
__init__(cfg, env)[source]
- Parameters:
cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)